Mechanical feedback linearization of single-input mechanical control systems

Marcin Nowicki; Witold Respondek

doi:10.1109/tac.2023.3259004

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arXiv · 2301.00087

Mechanical feedback linearization of single-input mechanical control systems

Marcin Nowicki·Witold Respondek

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Abstract

We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.

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BibTeX RIS

Marcin Nowicki, Witold Respondek. 2022-12-31. Mechanical feedback linearization of single-input mechanical control systems. https://doi.org/10.1109/tac.2023.3259004

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